Documentation: Reworked DebugDrawer

etc/doxygen/pages/5.Components.dox

 /**
 \addtogroup Components 5. Components
-Components are the main building blocks of ArmarX and offer services for other applications via Ice.
-Each component usually implements one Ice interface by which it offers its services.
-They can be configured with \ref armarx-componentproperties via config files.
 
 \defgroup RobotAPI-Components RobotAPI Components
 \ingroup RobotAPI Components
-Robot related components like RobotStateComponent
+\brief  
 
-...
+Components are the main building blocks of ArmarX and offer services to other applications via Ice.
+Each component usually implements an interface through which it can be accessed.
 */

etc/doxygen/pages/SensorActorUnits.dox

@@ -24,9 +24,6 @@
   \defgroup RobotAPI-SensorActorUnits-util Sensor-Actor Units Utility
   \ingroup RobotAPI-SensorActorUnits
   Utility and helper classes associated with Sensor-Actor Units.
-
-
-
  */
 
 

etc/doxygen/pages/statecharts.dox

 /**
 \defgroup RobotAPI-Statecharts RobotAPI Statecharts
 \ingroup RobotAPI Statecharts
-
-Statecharts related to RobotAPI
+\brief  
 */

source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h

@@ -64,44 +64,36 @@ public:
 };
 
 /*!
-  \class DebugDrawerComponent
-  \ingroup RobotAPI-Components
- * \brief The DebugDrawerComponent class implements a component that listens to layered / debug drawer commands and creates internal representations of the visualization
- * which can be conveniently used by gui components to visualize the content.
+ * \class DebugDrawerComponent
+ * \ingroup RobotAPI-Components
+ * \brief Visualizes debug information.
  *
- * An exemplary usage looks like this:
-\verbatim
-DebugDrawerInterfacePrx prxDD = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
-if (prxDD)
-{
-    // draw in global coordinate system
-    Eigen::Matrix4f p;
-    p.setIdentity();
-    p(2,3) = 1000.0f;
-    PosePtr gp(new Pose(p));
-    prxDD->setPoseDebugLayerVisu("testPose",gp);
-
-    armarx::Vector3Ptr p1(new armarx::Vector3());
-    p1->x = 0;
-    p1->y = 0;
-    p1->z = 0;
-    armarx::Vector3Ptr p2(new armarx::Vector3());
-    p2->x = 1000.0f;
-    p2->y = 1000.0f;
-    p2->z = 1000.0f;
-
-    armarx::DrawColor c;
-    c.r = 1.0f;
-    c.g = 0;
-    c.b = 0;
-        c.a = 1;
-    prxDD->setLineDebugLayerVisu("testLine", p1, p2, 2.0f, c);
-}
-\endverbatim
+ * The DebugDrawerComponent implements the DebugDrawerInterface and provides a convenient way for visualizing debug information.
+ * It creates a scene graph representation of the debug content and offers it to visualization components.
+ * Several GUI plugins visualize this debug scene graph, among others:
+ * - RobotViewer (RobotAPI)
+ * - WorkingMemoryGui (MemoryX)
+ * - SimulatorViewer (SimulationX)
  *
- * The following plugins listen to the DebugDrawer topic:
- * \see armarx::SimulatorControlGuiPlugin
- * \see memoryx::WorkingMemoryGuiPlugin
+ * The following example shows an exemplary debug drawing:
+\code
+    DebugDrawerInterfacePrx prxDD = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
+    if (prxDD)
+    {
+        // draw in global coordinate system
+        Eigen::Matrix4f p;
+        p.setIdentity();
+        p(2,3) = 1000.0f;
+        PosePtr gp(new Pose(p));
+        prxDD->setPoseDebugLayerVisu("testPose",gp);
+
+        armarx::Vector3Ptr p1(new armarx::Vector3(0, 0, 0));
+        armarx::Vector3Ptr p2(new armarx::Vector3(1000, 1000, 1000));
+
+        armarx::DrawColor c = {1, 0, 0, 1}; // RGBA
+        prxDD->setLineDebugLayerVisu("testLine", p1, p2, 2.0f, c);
+    }
+\endcode
  */
 class DebugDrawerComponent :
         virtual public armarx::DebugDrawerInterface,